Yes, any P4 would be a significant upgrade from a P3SE:
P4S has better range and forward collision sensors, higher max speed (in Sport Mode), slightly longer battery flight time. Cameras are practically identical.
P4P has all those advantages plus it comes standard with a high capacity battery for even longer flight time. It adds sensors on sides and back. Biggest benefit is the superior camera with 1" sensor, mechanical shutter, and higher video bitrate.